PC1 terminal1

ros2 run joy joy_node

terminal2

cd robocon_ws 
source install/setup.bash 
ros2 run joy_communication joy_publisher

PC2 terminal1

cd robocon_ws_2025/robocon_ws source 
install/setup.bash 
ros2 run joy_communication joy_subscriber

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ROS_LOCALHOST_ONLY=0 ROS_DOMAIN_ID=0

sudo ip link set can0 up type can bitrate 500000 sample-point 0.80